Reconfigurable robot end-effector assembly

Abstract

A reconfigurable end-effector assembly includes a master boom, a limb, and branches. The branches extend radially outward from the limb. Tandem branch joint assemblies connect the branches to the limb, and include a first and a second branch joint each having a cam lock. Tool modules mounted to the branches are translatable and rotatable with respect to the branches. The joint assemblies rotate and slide with respect to the longitudinal axis of the limb only when the cam lock is released. A configuration tool has an actuator and fingers. The branch joints define openings that are engaged via the fingers. The tool includes a latch which engages the cam lock, and clamps and unclamps the cam lock. A flexible dress package is mountable to the limb and configured to route lengths of conduit to each of the tool modules.

The invention claimed is: 
     
       1. A reconfigurable end-effector assembly, comprising:
 a master boom having an end; 
 a limb that is arranged orthogonally with respect to the master boom, and that is rigidly connected to the end of the master boom; 
 a plurality of branches extending radially outward from the limb; 
 a plurality of tandem branch joint assemblies each connecting at least two of the branches to the limb, wherein each of the tandem branch joint assemblies includes first and second branch joints, and wherein each of the first and second branch joints includes a releasable cam lock; 
 a plurality of tool modules each mounted to, and selectively translatable and rotatable with respect to, a corresponding one of the branches; and 
 a configuration tool having an actuator and a pair of actuating fingers that are moveable via the actuator, wherein the first and second branch joints define locator openings that are engaged via the pair of actuating fingers; 
 wherein each of the tandem branch joint assemblies rotates and slides with respect to a longitudinal axis of the limb only when the cam lock is released, 
 the configuration tool includes a cam latch which is moveable via the actuator and engages one of the cam locks, and a movement of the cam latch in respective first and second directions clamps and unclamps the cam lock. 
 
     
     
       2. The reconfigurable end-effector assembly of  claim 1 , further comprising a flexible snap-in sleeve positioned within one of the tandem branch joint assemblies, wherein the flexible snap-in sleeve has a pair of flanges which retains the first and second branch joints to each other. 
     
     
       3. The reconfigurable end-effector assembly of  claim 1 , wherein the plurality of tool modules includes a pneumatic suction cup. 
     
     
       4. The reconfigurable end-effector assembly of  claim 1 , further comprising a flexible dress package and flexible conduit, wherein the flexible dress package has a boom sleeve that circumscribes the limb and routes the flexible conduit to each of the tool modules. 
     
     
       5. The reconfigurable end-effector assembly of  claim 4 , wherein the flexible dress package further includes a branch rail defining a U-channel which receives a corresponding one of the flexible conduits. 
     
     
       6. The reconfigurable end-effector assembly of  claim 4 , wherein the flexible dress package includes a manifold to which is routed all of the flexible conduits. 
     
     
       7. A reconfigurable end-effector assembly, comprising:
 a master boom having an end; 
 a limb arranged orthogonally with respect to the master boom, and rigidly connected to the end of the master boom; 
 a plurality of branches extending radially outward from the limb; 
 a plurality of tandem branch joint assemblies each connecting at least two of the branches to the limb, wherein each of the tandem branch joint assemblies includes a first and a second branch joint, and wherein each of the first and second branch joints includes a cam lock, and each of the tandem branch join assemblies is further configured to rotate and slide with respect to the longitudinal axis of the limb only when the cam lock is released; 
 a plurality of tool modules each mounted to, and selectively translatable and rotatable with respect to, a corresponding one of the branches; 
 lengths of flexible conduit; 
 a flexible dress package having a boom sleeve that circumscribes the limb and routes the lengths of flexible conduit to the tool modules; and 
 a configuration tool having a cam latch, an actuator, and a pair of actuating fingers that are moveable via the actuator, wherein the first and second branch joints each defines locator openings that are engaged via the actuating fingers, the cam latch is moveable via the actuator to engage one of the cam locks, and a movement of the cam latch in respective first and second directions clamps and unclamps the cam lock. 
 
     
     
       8. The reconfigurable end-effector assembly of  claim 7 , wherein the flexible dress package includes a manifold to which is routed all of the lengths of flexible conduit. 
     
     
       9. The reconfigurable end-effector assembly of  claim 7 , further comprising a plurality of flexible snap-in sleeves, each of which is positioned within a respective one of the tandem branch joint assemblies. 
     
     
       10. The reconfigurable end-effector assembly of  claim 9 , wherein each of the flexible snap-in sleeves has a pair of flanges which retain the first and second branch joints to each other. 
     
     
       11. The reconfigurable end-effector assembly of  claim 7 , wherein the flexible dress package includes a branch rail defining a U-channel which receives a corresponding one of the lengths of flexible conduit.